U.S. patent number 7,446,884 [Application Number 10/510,935] was granted by the patent office on 2008-11-04 for method for optically detecting the spatial form of inside spaces and a device for carrying out said method.
This patent grant is currently assigned to corpus.e AG. Invention is credited to Robert Massen.
United States Patent |
7,446,884 |
Massen |
November 4, 2008 |
Method for optically detecting the spatial form of inside spaces
and a device for carrying out said method
Abstract
A cost-effective method for detecting the three-dimensional
shape of interior spaces such as footwear, prosthesis funnels, etc.
is described. For this purpose the inner wall of the interior space
is lined with a formfitting, elastic and photogrammetrically marked
envelope (2), a series of overlapping recordings of said interior
space marked in this way is produced with the aid of one or more
imaging devices (4) and from this the 3D-shape of the interior
space is determined using photogrammetrical methods. The invention
describes various methods of lining the interior space, of guiding
the imaging devices (9) into the different recording positions and
of the type of the measurable interior spaces.
Inventors: |
Massen; Robert
(Ohningen-Wangen, DE) |
Assignee: |
corpus.e AG (Stuttgart,
DE)
|
Family
ID: |
28458805 |
Appl.
No.: |
10/510,935 |
Filed: |
April 8, 2003 |
PCT
Filed: |
April 08, 2003 |
PCT No.: |
PCT/EP03/03636 |
371(c)(1),(2),(4) Date: |
April 01, 2005 |
PCT
Pub. No.: |
WO03/087715 |
PCT
Pub. Date: |
October 23, 2003 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20050168756 A1 |
Aug 4, 2005 |
|
Foreign Application Priority Data
|
|
|
|
|
Apr 12, 2002 [DE] |
|
|
102 16 475 |
|
Current U.S.
Class: |
356/601; 250/334;
356/5.15; 356/620 |
Current CPC
Class: |
A43D
1/06 (20130101); G01B 11/24 (20130101) |
Current International
Class: |
G01B
11/24 (20060101); G02B 26/10 (20060101) |
Field of
Search: |
;356/601-625,5.15,4.01
;250/334 ;600/587 ;382/154,142 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
|
|
|
|
|
|
|
0 507 709 |
|
Oct 1992 |
|
EP |
|
0 760 622 |
|
Mar 1997 |
|
EP |
|
WO 02074038 |
|
Sep 2002 |
|
WO |
|
Primary Examiner: Nguyen; Sang
Attorney, Agent or Firm: Friedman; Stuart J.
Claims
The invention claimed is:
1. A method of optically detecting the three-dimensional shape of
an interior space defined by an inner wall of a product adapted to
fit the shape of a body part, comprising the steps of: providing
said interior space with an elastic envelope in snug contact with
the inner wall, said elastic envelope being provided with marks
facing the inside of the space and adapted to be evaluated
photogrammetrically; producing a number of overlapping image
recordings of said interior space marked in this way with the aid
of one or more 2D-cameras; and, photogrammetrically evaluating said
recordings for determining the three-dimensional shape of that part
of said interior space that was detected by said overlapping
recordings.
2. The method according to claim 1, wherein the side of the marked
envelope facing the inner wall is provided with a means adhering to
said inner wall prior to insertion into the interior space.
3. The method according to claim 2, wherein an inflatable cover is
inserted into the marked envelope, said envelope is placed into the
interior space with said cover and there said envelope is pressed
against the inner wall of the interior space to be detected by
admitting internal pressure into said cover such that it is in snug
contact with said inner wall, and in that afterwards said cover is
relieved from pressure and removed, in order to make room for the
insertion of one or more imaging devices.
4. The method according to any of claims 1 to 3, wherein the
interior space constitutes the interior of a product which is in
contact with the human body during use.
5. The method according to claim 4, wherein the interior space is
the interior of footwear.
6. The method according to claim 4, wherein the interior space is
the interior of a prosthesis funnel for receiving a limb stump.
7. The method according to any of claims 1 to 3, wherein the
interior space is the interior of an orifice of the body.
8. The method according to any of claims 1 to 3, wherein a video
camera is used as imaging device and that the overlapping image
recordings of the interior space are recorded in the form of one or
more video sequences.
9. The method according to any of claims 1 to 3, wherein the
imaging device(s) is/are rotated axially and successively record(s)
both axially and radially overlapping recordings of the marked
interior space.
10. The method according to any of claims 1 to 3, wherein the
imaging device(s) inside the interior space is/are put into the
different overlapping recording positions.
11. The method according to any of claims 1 to 3, wherein the
interior space is mapped on the imaging device in radial bands via
a collar-shaped mirror.
12. The method according to any of claims 1 to 3, wherein the
imaging device(s) is/are guided in the interior space by
spacers.
13. The method according to any of claims 1 to 3, wherein the
overlapping image fields are transmitted from the interior space to
one or more imaging device(s) located outside the interior space
via an endoscopic system.
Description
FIELD OF THE INVENTION
The invention relates to a method of optically detecting the
three-dimensional shape of interior spaces and an arrangement for
performing the method.
BACKGROUND OF THE INVENTION
Regarding the production of products that are adapted to fit the
human body, such as clothing, footwear, orthopedic articles, e.g.
orthoses and prostheses, it is often required to detect the
three-dimensional shape of this body or body part. Various optical
scanning methods are known for this purpose, ranging from complex
laser triangulation methods to stripe projection systems. In
particular a cost-effective photogrammetrical method is known in
which the body part to be digitized is covered with a marked
elastic envelope, recorded with one or more 2D-cameras from
different recording positions overlapping each other, and a
3D-model of this body part is determined by an automatic
photogrammetrical evaluation of these views (Robert Massen:
Verfahren und Anordnung zur Erfassung der Raumform von Korpern und
Korperteilen, EP 0,760,622).
When products which are intended to be in snug contact with the
body, e.g. shoes, gloves, prosthesis stumps and the like are
produced, the three-dimensional shape of the product does not
directly correspond to the three-dimensional shape of the body
part. For example the last required for producing a custom-made
shoe is substantially narrower than the corresponding foot, as the
shoe produced with the aid of the last must somehow compress and
form the foot to some extent, in order to produce a good fit.
This difference between the three-dimensional shape of the last and
the three-dimensional shape of the foot cannot yet be calculated
analytically today. Similarly complicated conditions also apply to
custom-made prosthesis funnels for receiving the limb stump. Thus,
these custom-made articles produced with the aid of 3D-scan data of
the body part often still require complex repeated finishing
operations in order to finally obtain the fitting three-dimensional
shape.
On the other hand such fitting products are often already
available, e.g. an already worn-in and well fitting shoe, glove,
prosthesis part, etc. If the three-dimensional shape of this
product were known, the producer would have those 3D-data on hand
which are required for producing a product that would fit
immediately. Unfortunately there have not been any functioning and
cost-effective methods for an optical 3D-detection of the interior
space of such often cover-shaped products up to now. Indeed it is
known to digitize interior spaces with 3D-endoscopes using methods
of stereo technology or stripe projection; these methods, however,
are complex and require the object to be digitized and the
endoscopic systems to be clamped tight, in order to be able to
combine the individual 3D-views into a complete model. This
clamping as well as the requirement of having to know in each case
the exact 3-dimensional recording position of the endoscopic system
in relation to the interior space makes the application of these
methods more expensive and significantly more complex and thus puts
them beyond the options of a specialized orthopedics dealer or shoe
store.
Thus, there is a need for a cost-effective and simple system for
detecting the three-dimensional shape of interior spaces of
products, especially of such products that are adapted to fit the
shape of a body part.
SUMMARY OF THE INVENTION
In the method according to the invention the interior space to be
detected is lined, in a first step, with a thin envelope in snug
contact with the interior three-dimensional shape and provided with
marks facing the interior space and adapted to be evaluated
photogrammetrically. In a second step, one or more imaging devices
that are inserted into the interior space are used to produce a
number of overlapping 2D-recordings of the marked envelope. Then in
a third step, the 3D-shape of the interior space is determined from
these recordings using photogrammetrical methods.
This method is described as an example in the detection of the
inner three-dimensional shape of footwear within the scope of
producing well-fitting shoes. This description is to be considered
as an example and does not restrict the application of the
inventive idea with regard to the detection of the
three-dimensional shape of other interior spaces, including those
of a technical nature, in any way.
An arrangement for performing the method is indicated in the
claims.
BRIEF DESCRIPTION OF THE DRAWINGS
Further features and advantages of the invention will become
apparent from the following description with reference to the
appending drawings, in which
FIG. 1 is a diagrammatic illustration of the interior space of a
shoe with an inner lining by a thin elastic envelope provided with
marks adapted to be evaluated photogrammetrically;
FIG. 2 shows the insertion of the imaging device into the interior
space of the shoe;
FIG. 3 shows the movement of the imaging device in the interior
space of the shoe; and
FIG. 4 shows a particular embodiment of an imaging device that has
been inserted into the interior space of the shoe.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
FIG. 1 shows in an exemplary way how the interior space of a shoe 1
is lined with a thin formfitting envelope 2, whose surface facing
the interior space is provided with marks 3 that are adapted to be
evaluated photogrammetrically. For example this can be performed by
turning an elastic marked sock in such a fashion that the marking
faces the inside. A light spray adhesive is sprayed onto the
outside of the turned sock. Then the sock is moved into the
interior of the shoe e.g. using an inflatable balloon or an
inflatable cover and pushed against the inside of the shoe by the
inflated balloon where it is fixed onto the inner wall with the aid
of the adhesive. Then the balloon is deflated and removed. Now the
interior of the shoe is lined with a thin skin which is provided
with marks 3 adapted to be evaluated photogrammetrically.
The marked sock can also be inserted into the interior of the shoe
by dressing the foot of the shoe's owner with the turned sock,
applying a spray adhesive from the outside and then putting the
shoe on. As soon as the spray adhesive adheres, the naked foot is
pulled out of the sock/shoe. If required the foot can first be
provided with a lubricant in order to make it easier to pull it out
of the sock. These are only two exemplary concepts for lining an
interior space with a thin, photogrammetrically marked cover.
FIG. 2 illustrates the second step of the method. A miniature
camera 4 is inserted into the lined shoe 1, and a number of
overlapping images is produced from any spatial positions, the
images covering the complete or only the interesting part of the
interior space. In this context, the exact spatial position and
orientation of the camera do not have to be known. In an
advantageous embodiment of the invention the miniature camera is
guided roughly centrically by a number of spring-mounted spacers 5,
which are configured as rolls here, and pulled out manually from
the recording position in the toe of the shoe to the leg of the
shoe using a flexible cable 6 while overlapping recordings of the
inner wall are produced.
The camera can be tilted and turned automatically or manually via
control elements running through the guiding cable such that
overlapping recordings of the interior space are produced.
A further inventive idea, which is illustrated in FIG. 3, is that
the tilted camera 4 rotates around an axis 7 during this, such that
continuous panoramic views in bands of the interior space are
produced continuously, these views overlapping both radially and
axially.
It is a further inventive idea that the camera is a video camera
which continuously produces image sequences from overlapping single
views.
In accordance with the invention the panoramic view of the interior
space according to FIG. 4 can also be achieved if the interior
space is represented on the image sensor 9 in a radial band via a
collar-shaped mirror 8 and if the unit collar-shaped mirror 8-image
9 is moved axially after each recording in such a fashion that
these panoramic recordings overlap axially.
Of course, the imaging device can also be outside of the interior
space. In this case the recordings of the interior space are
transmitted to the camera via an endoscopic system of optical
fibers, bar lenses or mirrors.
In the third step the 3D-shape of the interior space is calculated
on the basis of the sequence of the images of the marked interior
space with the aid of photogrammetrical methods. Such methods can
be performed automatically, e.g., by a computer, and are described,
e.g., in the following patents:
Robert Massen, Verfahren und Anordnung zur photogrammetrischen
Erfassung der Raumform eines Objekts, PCT/EP01/05935;
Robert Massen, Verfahren und Anordnung zur photogrammetrischen
Erfassung der Raumform eines Objekts, PCT/EP02/02875.
The method according to the invention applies to all interior
spaces that can be lined with a formfitting envelope that is marked
to be evaluated photogrammetrically. These can also be orifices of
the body such as the auditory canal, in order to obtain the
3D-shape for producing a hearing aid.
The inventive idea is not limited to biological bodies, but can
also be applied to technical interior spaces that can be marked
correspondingly.
* * * * *